6 papers
Impact-Aware Bimanual Catching of Large-Momentum Objects
Lei Yan, Theodoros Stouraitis, João Moura +3
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing…
Latent Object Characteristics Recognition with Visual to Haptic-Audio Cross-modal Transfer Learning
Namiko Saito, Joao Moura, Hiroki Uchida +1
Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of reali…
Online Estimation of Articulated Objects with Factor Graphs using Vision and Proprioceptive Sensing
Russell Buchanan, Adrian Röfer, João Moura +2
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articula…
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation
Marina Y. Aoyama, João Moura, Namiko Saito +1
In many contact-rich tasks, force sensing plays an essential role in adapting the motion to the physical properties of the manipulated object. To enable robots to capture the under…
Nonprehensile Planar Manipulation through Reinforcement Learning with Multimodal Categorical Exploration
Juan Del Aguila Ferrandis, João Moura, Sethu Vijayakumar
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics…
Generalizing Modular Logic Programs
João Moura, Carlos Damásio
Even though modularity has been studied extensively in conventional logic programming, there are few approaches on how to incorporate modularity into Answer Set Programming, a prom…